we have the same problem.
We are using a ros bridge to connect our ros based robot to isaac.
So far we’ve setup laser scans and
odometry as well as
The problem seems to result from that the robot to lidar transform is not available at startup, it gets set by the
RosToPoses node that synchronizes our
PoseTree after startup.
Changing the start order didn’t help so far. Isn’t there any “wait for transform available” mechanism?
robot2lidar transformation and also trying to hardcode the transformation directly in a constructor in
engine/alice/components/PoseTree.cpp we get either this error:
2020-07-15 15:50:59.696 PANIC engine/alice/components/PoseTree.cpp@84: Cannot set the transformation lidar_lattice_T_lidar at time -1594820878.038986
2020-07-15 16:06:36.366 PANIC engine/alice/components/PoseTree.cpp@84: Cannot set the transformation robot_T_lidar at time 0.000000